· 搭载了基于AURIX™ TriCore™ 单片三核微控制器TC275

· 板载Micro USB接口的miniWiggler调试器

· 两个Infineon Shield2Go扩展接口

· 兼容MikroBUS 和Arduino扩展连接

· 带有Infineon新一代CAN 收发器TLE9251VSJ ，可用于汽车和工业应用的HS CAN网络开发

· 已焊接可调旋转电位计，用于评估模拟电压的采集

· 一个用户输入按键

· 预留三个LED可作为工作指示灯

任务：
本期选择任务2：设计一个呼吸灯，通过旋转板卡上的电位计，改变呼吸灯闪烁速率，同时将ADC采集的数据通过串口/CAN，发送到另一台设备上显示。

实现过程：
准备工作。第一次接触英飞凌的板卡。首先是开发工具。官方提供了AURIX™ Development Studio。是一个基于Eslipse的免费IDE，使用C作为开发语言，参考着老师的直播课，拿到了官网提供的详细例程。这里使用了英飞凌底层驱动库(iLLD)做开发，大量参考了官网提供的例程。本来计划使用一下官方工具OneEye，但是太复杂了，没能搞明白，所以展示部分用pyqt写了个上位机进行显示。

动手制作。通过流程框图，可知需要实现几个功能，ADC功能，用来读取电位器的值。PWM功能，用来驱动LED灯，实现呼吸灯效果。串口功能，用来将电位器的AD值上送给电脑。通过电位器的AD值，需要控制呼吸灯的频率，所以还需要实现一个时钟，用来计时。

使用例程Blinky_LED_1_KIT_TC275_LK来作为基础框架，将项目改名。参考着例程搭建起开发板的基础框架。将LED灯控制部分删除。
串口部分参考例程“ASCLIN_UART_1_KIT_TC275_LK”。例程中是实现了串口的发和收，需要留意的是例程中使用的是P15.2/P15.3这两个管脚，想直接使用烧写器中的串口，这里需要修改到P14.0/P14.1。然后添加了一个自定义的发送字符串的函数。

#include "IfxAsclin_Asc.h"
#include "IfxCpu_Irq.h"

/*********************************************************************************************************************/
/*------------------------------------------------------Macros-------------------------------------------------------*/
/*********************************************************************************************************************/
#define UART_BAUDRATE           115200                                  /* UART baud rate in bit/s                  */

//#define UART_PIN_RX             IfxAsclin0_RXB_P15_3_IN                 /* UART receive port pin                    */
//#define UART_PIN_TX             IfxAsclin0_TX_P15_3_OUT                 /* UART transmit port pin                   */
//更换串口
#define UART_PIN_RX         IfxAsclin0_RXA_P14_1_IN                 /* UART receive port pin                        */
#define UART_PIN_TX         IfxAsclin0_TX_P14_0_OUT                 /* UART transmit port pin

/* Definition of the interrupt priorities */
#define INTPRIO_ASCLIN0_RX      18
#define INTPRIO_ASCLIN0_TX      19

#define UART_RX_BUFFER_SIZE     64                                      /* Definition of the receive buffer size    */
#define UART_TX_BUFFER_SIZE     64                                      /* Definition of the transmit buffer size   */
#define SIZE                    13                                      /* Size of the string                       */

/*********************************************************************************************************************/
/*-------------------------------------------------Global variables--------------------------------------------------*/
/*********************************************************************************************************************/
/* Declaration of the ASC handle */
static IfxAsclin_Asc g_ascHandle;

/* Declaration of the FIFOs parameters */
static uint8 g_ascTxBuffer[UART_TX_BUFFER_SIZE + sizeof(Ifx_Fifo) + 8];
static uint8 g_ascRxBuffer[UART_RX_BUFFER_SIZE + sizeof(Ifx_Fifo) + 8];

/* Definition of txData and rxData */
uint8 g_txData[] = "Hello World!";
uint8 g_rxData[SIZE] = {''};

/* Size of the message */
Ifx_SizeT g_count = sizeof(g_txData);

/*********************************************************************************************************************/
/*---------------------------------------------Function Implementations----------------------------------------------*/
/*********************************************************************************************************************/
/* Adding of the interrupt service routines */
IFX_INTERRUPT(asclin0TxISR, 0, INTPRIO_ASCLIN0_TX);
void asclin0TxISR(void)
{
    IfxAsclin_Asc_isrTransmit(&g_ascHandle);
}

IFX_INTERRUPT(asclin0RxISR, 0, INTPRIO_ASCLIN0_RX);
void asclin0RxISR(void)
{
    IfxAsclin_Asc_isrReceive(&g_ascHandle);
}

/* This function initializes the ASCLIN UART module */
void init_ASCLIN_UART(void)
{
    /* Initialize an instance of IfxAsclin_Asc_Config with default values */
    IfxAsclin_Asc_Config ascConfig;
    IfxAsclin_Asc_initModuleConfig(&ascConfig, &MODULE_ASCLIN0);

    /* Set the desired baud rate */
    ascConfig.baudrate.baudrate = UART_BAUDRATE;

    /* ISR priorities and interrupt target */
    ascConfig.interrupt.txPriority = INTPRIO_ASCLIN0_TX;
    ascConfig.interrupt.rxPriority = INTPRIO_ASCLIN0_RX;
    ascConfig.interrupt.typeOfService = IfxCpu_Irq_getTos(IfxCpu_getCoreIndex());

    /* FIFO configuration */
    ascConfig.txBuffer = &g_ascTxBuffer;
    ascConfig.txBufferSize = UART_TX_BUFFER_SIZE;
    ascConfig.rxBuffer = &g_ascRxBuffer;
    ascConfig.rxBufferSize = UART_RX_BUFFER_SIZE;

    /* Pin configuration */
    const IfxAsclin_Asc_Pins pins =
    {
        NULL_PTR,       IfxPort_InputMode_pullUp,     /* CTS pin not used */
        &UART_PIN_RX,   IfxPort_InputMode_pullUp,     /* RX pin           */
        NULL_PTR,       IfxPort_OutputMode_pushPull,  /* RTS pin not used */
        &UART_PIN_TX,   IfxPort_OutputMode_pushPull,  /* TX pin           */
        IfxPort_PadDriver_cmosAutomotiveSpeed1
    };
    ascConfig.pins = &pins;

    IfxAsclin_Asc_initModule(&g_ascHandle, &ascConfig); /* Initialize module with above parameters */
}

/* This function sends and receives the string "Hello World!" */
//void send_receive_ASCLIN_UART_message(void)
//{
//    IfxAsclin_Asc_write(&g_ascHandle, g_txData, &g_count, TIME_INFINITE);   /* Transmit data via TX */
//    IfxAsclin_Asc_read(&g_ascHandle, g_rxData, &g_count, TIME_INFINITE);    /* Receive data via RX  */
//}


void Uart_SendStr(char* str) {
    Ifx_SizeT len = (Ifx_SizeT)strlen(str);
    IfxAsclin_Asc_write(&g_ascHandle, str, &len, TIME_INFINITE);   /* Transmit data via TX */
}

 参考例程"ADC_Single_Channel_1_KIT_TC275_LK"来读取电位器的值。电位器的值实测是从0~4095.

#include "IfxVadc_Adc.h"
#include "ADC_Single_Channel.h"

/*********************************************************************************************************************/
/*------------------------------------------------------Macros-------------------------------------------------------*/
/*********************************************************************************************************************/
#define VADC_GROUP                  IfxVadc_GroupId_0           /* Use the ADC group 0                              */
#define CHANNEL_ID                  0                           /* Use the Channel 0                                */
#define CHANNEL_RESULT_REGISTER     5


/*********************************************************************************************************************/
/*-------------------------------------------------Global variables--------------------------------------------------*/
/*********************************************************************************************************************/
ApplicationVadcBackgroundScan g_vadcBackgroundScan;

/*********************************************************************************************************************/
/*---------------------------------------------Function Implementations----------------------------------------------*/
/*********************************************************************************************************************/
/* The VADC module and group are initialized */
void vadcBackgroundScanInit(void)
{
    /* VADC module configuration */
    /* Create VADC configuration */
    IfxVadc_Adc_Config adcConfig;

    /* Initialize the VADC configuration with default values */
    IfxVadc_Adc_initModuleConfig(&adcConfig, &MODULE_VADC);

    /* Initialize the VADC module using the VADC configuration */
    IfxVadc_Adc_initModule(&g_vadcBackgroundScan.vadc, &adcConfig);

    /* VADC group configuration */
    /* Create group configuration */
    IfxVadc_Adc_GroupConfig adcGroupConfig;

    /* Initialize the group configuration with default values */
    IfxVadc_Adc_initGroupConfig(&adcGroupConfig, &g_vadcBackgroundScan.vadc);

    /* Define which ADC group is going to be used */
    adcGroupConfig.groupId = VADC_GROUP;
    adcGroupConfig.master = VADC_GROUP;

    /* Enable background scan source */
    adcGroupConfig.arbiter.requestSlotBackgroundScanEnabled = TRUE;

    /* Enable background auto scan mode */
    adcGroupConfig.backgroundScanRequest.autoBackgroundScanEnabled = TRUE;

    /* Enable the gate in "always" mode (no edge detection) */
    adcGroupConfig.backgroundScanRequest.triggerConfig.gatingMode = IfxVadc_GatingMode_always;

    /* Initialize the group using the group configuration */
    IfxVadc_Adc_initGroup(&g_vadcBackgroundScan.adcGroup, &adcGroupConfig);
}

/* The input channels to be used are setup and the VADC is set into run mode */
void vadcBackgroundScanRun(void)
{
    /* Initialize the channel configuration of application handle g_vadcBackgroundScan with default values */
    IfxVadc_Adc_initChannelConfig(&g_vadcBackgroundScan.adcChannelConfig, &g_vadcBackgroundScan.adcGroup);

    g_vadcBackgroundScan.adcChannelConfig.channelId = (IfxVadc_ChannelId)CHANNEL_ID;
    g_vadcBackgroundScan.adcChannelConfig.resultRegister = (IfxVadc_ChannelResult)CHANNEL_RESULT_REGISTER;
    g_vadcBackgroundScan.adcChannelConfig.backgroundChannel = TRUE;

    /* Initialize the channel of application handle g_VadcBackgroundScan using the channel configuration */
    IfxVadc_Adc_initChannel(&g_vadcBackgroundScan.adcChannel, &g_vadcBackgroundScan.adcChannelConfig);

    /* Enable background scan for the channel */
    IfxVadc_Adc_setBackgroundScan(&g_vadcBackgroundScan.vadc,
                                  &g_vadcBackgroundScan.adcGroup,
                                  (1 << (IfxVadc_ChannelId)CHANNEL_ID),
                                  (1 << (IfxVadc_ChannelId)CHANNEL_ID));

    /* Start background scan conversion */
    IfxVadc_Adc_startBackgroundScan(&g_vadcBackgroundScan.vadc);
}


#define RETRY_MAX 0xf000
uint32_t Adc_GetValue(void) {
    Ifx_VADC_RES conversionResult;
    uint16_t retry = 0;
    do {
        conversionResult = IfxVadc_Adc_getResult(&g_vadcBackgroundScan.adcChannel);
        if (retry++ > RETRY_MAX) {
            return 0xffffffff;
        }
    } while (!conversionResult.B.VF);
    return conversionResult.B.RESULT;
}

PWM输出部分参考了“GTM_TOM_PWM_1_KIT_TC275_LK”。这里使用50000作为周期，500作为步进值。每100次循环，完成LED从暗到亮或从亮到暗的变化。所以这里只需要控制每次循环间隔的时间，就能控制呼吸灯闪烁的频率了。

#include "GTM_TOM_PWM.h"
#include "Ifx_Types.h"
#include "IfxGtm_Tom_Pwm.h"

/*********************************************************************************************************************/
/*------------------------------------------------------Macros-------------------------------------------------------*/
/*********************************************************************************************************************/
#define ISR_PRIORITY_TOM    20                                      /* Interrupt priority number                    */
#define LED                 IfxGtm_TOM1_4_TOUT14_P00_5_OUT          /* LED which will be driven by the PWM          */
#define PWM_PERIOD          50000                                   /* PWM period for the TOM                       */
#define FADE_STEP           PWM_PERIOD / 100                        /* PWM duty cycle for the TOM                   */

/*********************************************************************************************************************/
/*-------------------------------------------------Global variables--------------------------------------------------*/
/*********************************************************************************************************************/
IfxGtm_Tom_Pwm_Config g_tomConfig;                                  /* Timer configuration structure                */
IfxGtm_Tom_Pwm_Driver g_tomDriver;                                  /* Timer Driver structure                       */
uint32 g_fadeValue = 0;                                             /* Fade value, starting from 0                  */
sint8 g_fadeDir = 1;                                                /* Fade direction variable                      */

/*********************************************************************************************************************/
/*-----------------------------------------------Function Prototypes-------------------------------------------------*/
/*********************************************************************************************************************/
void setDutyCycle(uint32 dutyCycle);                                /* Function to set the duty cycle of the PWM    */

/*********************************************************************************************************************/
/*--------------------------------------------Function Implementations-----------------------------------------------*/
/*********************************************************************************************************************/
/* This function initializes the TOM */
void initGtmTomPwm(void)
{
    IfxGtm_enable(&MODULE_GTM);                                     /* Enable GTM                                   */

    IfxGtm_Cmu_enableClocks(&MODULE_GTM, IFXGTM_CMU_CLKEN_FXCLK);   /* Enable the FXU clock                         */

    /* Initialize the configuration structure with default parameters */
    IfxGtm_Tom_Pwm_initConfig(&g_tomConfig, &MODULE_GTM);

    g_tomConfig.tom = LED.tom;                                      /* Select the TOM depending on the LED          */
    g_tomConfig.tomChannel = LED.channel;                           /* Select the channel depending on the LED      */
    g_tomConfig.period = PWM_PERIOD;                                /* Set the timer period                         */
    g_tomConfig.pin.outputPin = &LED;                               /* Set the LED port pin as output               */
    g_tomConfig.synchronousUpdateEnabled = TRUE;                    /* Enable synchronous update                    */

    IfxGtm_Tom_Pwm_init(&g_tomDriver, &g_tomConfig);                /* Initialize the GTM TOM                       */
    IfxGtm_Tom_Pwm_start(&g_tomDriver, TRUE);                       /* Start the PWM                                */
}

/* This function creates the fade effect for the LED */
void fadeLED(void)
{
    if((g_fadeValue + FADE_STEP) >= PWM_PERIOD)
    {
        g_fadeDir = -1;                                             /* Set the direction of the fade                */
    }
    else if((g_fadeValue - FADE_STEP) <= 0)
    {
        g_fadeDir = 1;                                              /* Set the direction of the fade                */
    }
    g_fadeValue += g_fadeDir * FADE_STEP;                           /* Calculation of the new duty cycle            */
    setDutyCycle(g_fadeValue);                                      /* Set the duty cycle of the PWM                */
}
//
///* This function sets the duty cycle of the PWM */
void setDutyCycle(uint32 dutyCycle)
{
    g_tomConfig.dutyCycle = dutyCycle;                              /* Change the value of the duty cycle           */
    IfxGtm_Tom_Pwm_init(&g_tomDriver, &g_tomConfig);                /* Re-initialize the PWM                        */
}

时钟部分参考了“STM_Interrupt_1_KIT_TC275_LK”。电位器AD的值事【0，4095】，中位数是2048.呼吸灯是PWM循环100次的结果，直接将AD的值放大10倍，使用us做单位，用来延时，就可以把呼吸灯从暗到亮（从亮到暗）的时长控制在0~4秒之间了。所以这里自建了一个us延时的函数。

/*********************************************************************************************************************/
#include "STM_Interrupt.h"
#include "Bsp.h"
#include "IfxPort.h"
#include "IfxStm.h"

/*********************************************************************************************************************/
/*------------------------------------------------------Macros-------------------------------------------------------*/
/*********************************************************************************************************************/
#define ISR_PRIORITY_STM        40                              /* Priority for interrupt ISR                       */
//#define TIMER_INT_TIME          500                             /* Time between interrupts in ms                    */

/*********************************************************************************************************************/
/*-------------------------------------------------Global variables--------------------------------------------------*/
/*********************************************************************************************************************/
IfxStm_CompareConfig g_STMConf;                                 /* STM configuration structure                      */
//Ifx_TickTime g_ticksFor500ms;                                   /* Variable to store the number of ticks to wait    */

/*********************************************************************************************************************/

/*---------------------------------------------Function Implementations----------------------------------------------*/
/*********************************************************************************************************************/
/* Macro to define Interrupt Service Routine.
 * This macro makes following definitions:
 * 1) Define linker section as .intvec_tc<vector number>_<interrupt priority>.
 * 2) define compiler specific attribute for the interrupt functions.
 * 3) define the Interrupt service routine as ISR function.
 *
 * IFX_INTERRUPT(isr, vectabNum, priority)
 *  - isr: Name of the ISR function.
 *  - vectabNum: Vector table number.
 *  - priority: Interrupt priority. Refer Usage of Interrupt Macro for more details.
 */

/* Function to initialize the STM */
void initSTM(void)
{
    IfxStm_initCompareConfig(&g_STMConf);           /* Initialize the configuration structure with default values   */

//    g_STMConf.triggerPriority = ISR_PRIORITY_STM;   /* Set the priority of the interrupt                            */
//    g_STMConf.typeOfService = IfxSrc_Tos_cpu0;      /* Set the service provider for the interrupts                  */
//    g_STMConf.ticks = g_ticksFor500ms;              /* Set the number of ticks after which the timer triggers an
//                                                     * interrupt for the first time                                 */
//    IfxStm_initCompare(STM, &g_STMConf);            /* Initialize the STM with the user configuration               */
    IfxStm_initCompare(&MODULE_STM0, &g_STMConf);
}

void Delay_us(uint32_t us) {
    uint32 tick = IfxStm_getTicksFromMicroseconds(&MODULE_STM0, us);
    IfxStm_waitTicks(&MODULE_STM0, tick);
}

void Delay_ms(uint32_t ms) {
    uint32 tick = IfxStm_getTicksFromMilliseconds(&MODULE_STM0, ms);
    IfxStm_waitTicks(&MODULE_STM0, tick);
}

  上位机展示。OneEye界面是真漂亮。按着官方例程实现了一下OneEye的功能。感觉过于复杂。就收工写一个上位机界面。使用pyqt做界面，用一个旋转按钮来同步电位器的信息。上位机通过串口通讯获得开发板当前的信息。

心得体会：
感谢funpack带来的这期活动。第一次接触英飞凌的板子，板子的三核还没搞明白，现在是一核工作，两核旁观。官网提供的文档着实让人吃惊，文档之多之细，确实让人佩服。参加这样的活动，受益多多，而且欢乐无穷！